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PX4 / PX4-SITL_gazebo-classic

Set of plugins, models and worlds to use with OSRF Gazebo Simulator in SITL and HITL.
http://dev.px4.io/simulation-gazebo.html
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Run make px4_sitl gazebo_tailsitter Error #456

Closed xdwgood closed 4 years ago

xdwgood commented 4 years ago

gazebo version: Gazebo multi-robot simulator, version 9.11.0

/home/dw/Firmware/Tools/sitl_gazebo/src/gazebo_usv_dynamics_plugin.cpp: In member function ‘virtual void gazebo::UsvDynamicsPlugin::Update()’: /home/dw/Firmware/Tools/sitl_gazebo/src/gazebo_usv_dynamics_plugin.cpp:251:29: error: missing template arguments before ‘xformV’ ignition::math::Matrix4 xformV(vq); ^ /home/dw/Firmware/Tools/sitl_gazebo/src/gazebo_usv_dynamics_plugin.cpp:285:15: error: ‘xformV’ was not declared in this scope bpntW = xformV * bpnt; ^ At global scope: cc1plus: warning: unrecognized command line option ‘-Wno-address-of-packed-member’ [73/100] Building CXX object CMakeFile...c/gazebo_geotagged_images_plugin.cpp.o ninja: build stopped: subcommand failed. [737/740] Linking CXX executable bin/px4 FAILED: cd /home/dw/Firmware/build/px4_sitl_default/build_gazebo && /usr/bin/cmake --build . ninja: build stopped: subcommand failed. Makefile:205: recipe for target 'px4_sitl' failed make: *** [px4_sitl] Error 1

@Jaeyoung-Lim could you have a look?

xdwgood commented 4 years ago

I tried v1.10 and everything works fine in gazebo.

@Jaeyoung-Lim Could you see if this problem is caused by gazebo? I will also try to do some research today. https://github.com/PX4/Firmware/issues/14588

Jaeyoung-Lim commented 4 years ago

@xdwgood I think this is the same issue as #464

Pedro-Roque commented 4 years ago

@Jaeyoung-Lim yes, same issue .

xdwgood commented 4 years ago

Any update? thanks

Jaeyoung-Lim commented 4 years ago

@xdwgood Which system are you running? This is coming from your system, since the code is built for every PR and checked through the CI. Can you check all your ignition dependency versions?

xdwgood commented 4 years ago

ubuntn 16.04

Jaeyoung-Lim commented 4 years ago

@xdwgood The problem is that you are using the wrong ignition libraries, e.g. libignition-math please check if the versions are correct

Jaeyoung-Lim commented 4 years ago

@xdwgood Did you manage to fix it?

xdwgood commented 4 years ago

@Jaeyoung-Lim Sorry， I haven‘t fix it... I don't know how to update libignition-math

Jaeyoung-Lim commented 4 years ago

@xdwgood What is your libignition-math version?

Pedro-Roque commented 4 years ago

@Jaeyoung-Lim this might be related to a minor version of math, and caused by updating the libraries (other than at the moment of installing ros-*-desktop-full), for instance when updating gazebo to latest minor version. I tried to check how to get the minor version of math, but didnt get it done yet. Could you check on it?

Jaeyoung-Lim commented 4 years ago

@Pedro-Roque 

$ apt-cache policy libignition-math4
libignition-math4:
  Installed: 4.0.0+dfsg1-4
  Candidate: 4.0.0+dfsg1-4
  Version table:
 *** 4.0.0+dfsg1-4 500
        500 http://ch.archive.ubuntu.com/ubuntu bionic/universe amd64 Packages
        100 /var/lib/dpkg/status
     4.0.0-1~bionic 500
        500 http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic/main amd64 Packages
Pedro-Roque commented 4 years ago

@Jaeyoung-Lim This is what I have:

➜  ~ sudo find /usr | grep ignition-math
[sudo] password for roque: 
/usr/share/doc/libignition-math4-dev
/usr/share/doc/libignition-math4-dev/changelog.Debian.gz
/usr/share/doc/libignition-math4-dev/copyright
/usr/share/doc/libignition-math4
/usr/share/doc/libignition-math4/changelog.Debian.gz
/usr/share/doc/libignition-math4/copyright
/usr/share/doc/libignition-math4/README.md
/usr/share/doc/libignition-math4/AUTHORS
/usr/share/doc/libignition-math4/NEWS.gz
/usr/share/lintian/overrides/libignition-math4
/usr/local/share/ignition/ignition-math4_0
/usr/local/share/ignition/ignition-math4_0/ignition-math4.tag.xml
/usr/local/lib/cmake/ignition-math4
/usr/local/lib/cmake/ignition-math4/ignition-math4-targets-relwithdebinfo.cmake
/usr/local/lib/cmake/ignition-math4/ignition-math4-config.cmake
/usr/local/lib/cmake/ignition-math4/ignition-math4-targets.cmake
/usr/local/lib/cmake/ignition-math4/ignition-math4-config-version.cmake
/usr/local/lib/pkgconfig/ignition-math4.pc
/usr/local/lib/libignition-math4.so.4
/usr/local/lib/libignition-math4.so
/usr/local/lib/libignition-math4.so.4.0.0
/usr/lib/x86_64-linux-gnu/cmake/ignition-math4
/usr/lib/x86_64-linux-gnu/cmake/ignition-math4/ignition-math4-targets-relwithdebinfo.cmake
/usr/lib/x86_64-linux-gnu/cmake/ignition-math4/ignition-math4-config.cmake
/usr/lib/x86_64-linux-gnu/cmake/ignition-math4/ignition-math4-targets.cmake
/usr/lib/x86_64-linux-gnu/cmake/ignition-math4/ignition-math4-config-version.cmake
/usr/lib/x86_64-linux-gnu/pkgconfig/ignition-math4.pc
/usr/lib/x86_64-linux-gnu/libignition-math4.so.4
/usr/lib/x86_64-linux-gnu/libignition-math4.so
/usr/lib/x86_64-linux-gnu/libignition-math4.so.4.0.0

and 

➜  ~ apt-cache policy libignition-math4        
libignition-math4:
  Installed: 4.0.0+dfsg1-4
  Candidate: 4.0.0+dfsg1-4
  Version table:
 *** 4.0.0+dfsg1-4 500
        500 http://se.archive.ubuntu.com/ubuntu bionic/universe amd64 Packages
        100 /var/lib/dpkg/status
     4.0.0-1~bionic 500
        500 http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic/main amd64 Packages

So not really sure what is going on, or if there's something weird with the minor releases of libignition-math. But we should fix this before the next release.

Moreover, I meant a way to check the version in the code, there's no #ifdef GAZEBO_MAJOR_VERSION for libginition math that I could find...

xdwgood commented 4 years ago

@Jaeyoung-Lim 

libignition-math4:
  Installed: 4.0.0-1~xenial
  Candidate: 4.0.0-1~xenial
  Version table:
 *** 4.0.0-1~xenial 500
        500 http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial/main amd64 Packages
        100 /var/lib/dpkg/status
xdwgood commented 4 years ago

fix here： https://github.com/PX4/sitl_gazebo/pull/492